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43 lines
2.8 KiB
Markdown
43 lines
2.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# MessageFormatRequest (UORB message)
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**TOPICS:** message_formatrequest
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp |
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| topic_name | `char[50]` | | | E.g. /fmu/in/vehicle_command |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| --------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a href="#LATEST_PROTOCOL_VERSION"></a> LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatRequest.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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# Request to PX4 to get the hash of a message, to check for message compatibility
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uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes.
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uint16 protocol_version # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp
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char[50] topic_name # E.g. /fmu/in/vehicle_command
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```
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:::
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